#pragma once
#include "rclcpp/rclcpp.hpp"
#include "std_msgs/msg/string.h"
#include "dds_test_interface/msg/test_data.hpp"

class DDSTestPublisher : public rclcpp::Node
{
public:
    DDSTestPublisher(bool isRealiable, int historyDepth ,double blockSize, double hz);
    ~DDSTestPublisher();

private:
    rclcpp::TimerBase::SharedPtr pubTimer;
    rclcpp::Publisher<dds_test_interface::msg::TestData>::SharedPtr dataPub;
    int msgCnt = 0;

    std::vector<uint8_t> binArray;

    void onPublishTimerCallback();
};